/**
 * @file
 * @author dousha 
 * @date 2021/5/25.
 */

#ifndef PERISCOPE_QUATERNIONFILTER_H
#define PERISCOPE_QUATERNIONFILTER_H

#include "mpu.h"
#include "solver.h"

typedef struct {
	float x;
	float y;
	float z;
} Triad;

extern void hyper_solver_init();

extern void update_estimate(const MpuData *, Position *);

#endif //PERISCOPE_QUATERNIONFILTER_H
